Tennis playing robotic device

Abstract

Provided is a system for robotic collaboration. A first robotic device includes a tangible, non-transitory, machine readable medium storing instructions that when executed by a processor of the first robotic device effectuates first operations including: receiving first information from a processor of a second robotic device; actuating the first robotic device to execute a first action based on the first information; and transmitting second information to the processor of the second robotic device. The second robotic device includes a tangible, non-transitory, machine readable medium storing instructions that when executed by the processor of the second robotic device effectuates second operations including: receiving the second information transmitted from the processor of the first robotic device; actuating the second robotic device to execute a second action based on the second information; and transmitting third information to the processor of the first robotic device.

The invention claimed is: 
     
       1. A system for robotic collaboration, comprising:
 a first robotic device, comprising:
 a chassis; 
 a set of wheels; 
 one or more motors to drive the wheels; 
 a plurality of sensors; and 
 a tangible, non-transitory, machine readable medium storing instructions that when executed by a processor of the first robotic device effectuates first operations comprising:
 receiving, with the processor of the first robotic device, first information from a processor of a second robotic device; 
 actuating, with the processor of the first robotic device, the first robotic device to execute a first action based on the first information; and 
 transmitting, with the processor of the first robotic device, second information to the processor of the second robotic device; and 
 
 
 the second robotic device, comprising:
 a chassis; 
 a set of wheels; 
 one or more motors to drive the wheels; 
 a plurality of sensors; and 
 a tangible, non-transitory, machine readable medium storing instructions that when executed by the processor of the second robotic device effectuates second operations comprising:
 receiving, with the processor of the second robotic device, the second information transmitted from the processor of the first robotic device; 
 actuating, with the processor of the second robotic device, the second robotic device to execute a second action based on the second information; and 
 transmitting, with the processor of the first robotic device, third information to the processor of the first robotic device; and 
 
 
 an application of a communication device paired with at least one of the first robotic device and the second robotic device configured to:
 receive an input designating at least one of: a hitting speed of a tennis ball, a hitting direction of a tennis ball, a type of tennis match, a serving speed of a tennis ball, playing difficulty level of the first robotic device or second robotic device, a unique tag of a subarea in a map of an environment, a task schedule of the first robotic or second robotic device, a driving speed, a playing position of the first robotic device or second robotic device, a subarea in which the first robotic device or second robotic device is to execute a task, an instruction to execute a particular preprogrammed playing routine, a selection of a particular user profile, an instruction to drive to a user-identified location, an instruction to turn in a left or right direction, an instruction to drive forwards or backwards, an instruction to stop moving, and an instruction to execute one or more movement patterns. 
 
 
     
     
       2. The system of  claim 1 , wherein:
 the first and the third information comprises at least one of imaging data and motion sensor data corresponding with a playing opponent of the second robotic device observed by an image sensor and motion sensor, respectively; and 
 the second information comprises at least one of imaging data and motion sensor data corresponding with a playing opponent of the first robotic device observed by an image sensor and motion sensor, respectively. 
 
     
     
       3. The system of  claim 1 , wherein the first, second and third information further comprises at least one of imaging data and motion sensor data corresponding with a tennis ball observed by an image sensor and motion sensor, respectively. 
     
     
       4. The system of  claim 1 , wherein:
 each robotic device further comprises one or more tennis rackets, each of the one or more tennis rackets being coupled to a terminal end of a corresponding arm of each robotic device; and 
 the first action and the second action comprise hitting a tennis ball with the one or more tennis rackets of the first robotic device and the second robotic device, respectively. 
 
     
     
       5. The system of  claim 1 , wherein the processor of at least one of the first robotic device and second robotic device determines settings comprising a hitting speed of a tennis ball and a hitting direction of the tennis ball based on at least one of a preprogrammed playing routine and a playing difficulty level of the corresponding robotic device. 
     
     
       6. The system of  claim 1 , wherein at least one of the robotic device and second robotic device further comprises an acoustic sensor for receiving verbal commands. 
     
     
       7. The system of  claim 1 , wherein the processor of at least one of the first robotic device and second robotic device actuates movement of the corresponding robotic device based on at least one of: a position of the tennis ball, a position of a playing opponent, and a target location on an opposing end of a tennis court. 
     
     
       8. The system of  claim 1 , wherein the processor of at least one of the first robotic device and second robotic device autonomously adjusts settings of the corresponding robotic device based on optimal settings learned for a particular user using machine learning. 
     
     
       9. The system of  claim 1 , wherein the processor of at least one of the first robotic device and second robotic device autonomously devises a task schedule based on previous observations. 
     
     
       10. The system of  claim 1 , wherein at least one of the first operations and second operations comprise:
 generating a map an environment by combining sensor data at overlapping points; 
 localizing the corresponding robotic device based on sensor data; and 
 generating a movement path of the corresponding robotic device based on at least the map. 
 
     
     
       11. A method for robotic collaboration, comprising:
 receiving, with a processor of a first robotic device, first information from a processor of a second robotic device; 
 actuating, with the processor of the first robotic device, the first robotic device to execute a first action based on the first information; 
 transmitting, with the processor of the first robotic device, second information to the processor of the second robotic device; 
 receiving, with the processor of the second robotic device, the second information transmitted from the processor of the first robotic device; 
 actuating, with the processor of the second robotic device, the second robotic device to execute a second action based on the second information; 
 transmitting, with the processor of the first robotic device, third information to the processor of the first robotic device; and 
 receiving, with an application of a communication device paired with at least one of the first robotic device and the second robotic device, an input designating at least one of: a hitting speed of a tennis ball, a hitting direction of a tennis ball, a type of tennis match, a serving speed of a tennis ball, playing difficulty level of the first robotic device or second robotic device, a unique tag of a subarea in a map of an environment, a task schedule of the first robotic or second robotic device, a driving speed, a playing position of the first robotic device or second robotic device, a subarea in which the first robotic device or second robotic device is to execute a task, an instruction to execute a particular preprogrammed playing routine, a selection of a particular user profile, an instruction to drive to a user-identified location, an instruction to turn in a left or right direction, an instruction to drive forwards or backwards, an instruction to stop moving, and an instruction to execute one or more movement patterns. 
 
     
     
       12. The method of  claim 11 , wherein:
 the first and the third information comprises at least one of imaging data and motion sensor data corresponding with a playing opponent of the second robotic device observed by an image sensor and motion sensor, respectively; and 
 the second information comprises at least one of imaging data and motion sensor data corresponding with a playing opponent of the first robotic device observed by an image sensor and motion sensor, respectively. 
 
     
     
       13. The method of  claim 11 , wherein the first, second and third information further comprises at least one of imaging data and motion sensor data corresponding with a tennis ball observed by an image sensor and motion sensor, respectively. 
     
     
       14. The method of  claim 11 , wherein:
 each robotic device further comprises one or more tennis rackets, each of the one or more tennis rackets being coupled to a terminal end of a corresponding arm of each robotic device; and 
 the first action and the second action comprise hitting a tennis ball with the one or more tennis rackets of the first robotic device and the second robotic device, respectively. 
 
     
     
       15. The method of  claim 11 , wherein at least one of the robotic device and second robotic device further comprises an acoustic sensor for receiving verbal commands. 
     
     
       16. The method of  claim 11 , wherein the processor of at least one of the first robotic device and second robotic device actuates movement of the corresponding robotic device based on at least one of: a position of the tennis ball, a position of a playing opponent, and a target location on an opposing end of a tennis court. 
     
     
       17. The method of  claim 11 , wherein the processor of at least one of the first robotic device and second robotic device autonomously devises a task schedule based on previous observations. 
     
     
       18. The method of  claim 11 , further comprising:
 generating a map an environment by combining sensor data at overlapping points; 
 localizing the corresponding robotic device based on sensor data; and 
 generating a movement path of the corresponding robotic device based on at least the map. 
 
     
     
       19. The method of  claim 11 , further comprising:
 adjusting, with the processor of at least one of the first robotic device and second robotic device, settings of the corresponding robotic device based on optimal settings learned for a particular user using machine learning.